臺灣博碩士論文加值系統

在開始實驗之前，利用參考軌跡產生的設計方式來達成一個穩定的運動。根據兩足機器人的想要之運動路徑，藉由電腦輔助繪圖(CAD)繪出機器人的重要姿態，進而求得每一個馬達的絕對位置 (例如：參考的軌跡)。利用曲線擬合的方式求得較為平滑的軌跡以減少在落地時的衝擊和機器人在運動的震動問題。由於真實的機器人動態系統是三度空間而非兩度空間的；因此，簡化的二度空間動態系統並不足以設計真實機器人的控制器。在以上這種情況下，設計一複數模糊可變結構控制於一個穩定的兩足運動機器人。利用本實驗的控制器去追蹤參考軌跡並不需要任的數學模式，而只需要由系統的資訊來選擇一個適合的參數因而可以得到很好的性能表現。這是首次使用複數模糊可變結構控制於實驗的兩足運動機器人。根據以下的實驗來證明本實驗的控制器的有效能力。

In the beginning, a generation of reference trajectory is designed to obtain a stable locomotion. Based on the desired motion of biped robot, its important postures are plot by CAD, and then the absolute position of every motor (i.e., reference input) is determined. For reducing the impact of grounding and the vibration of motion, creating smoother trajectory (e.g., via cubic interpolation) is constructed. The real dynamics of the biped locomotion robot is the motion in three dimensions (3D) but not in two dimensions (2D). The simplified dynamics based on 2D is not enough for the controller design of the real biped locomotion robot. Under the circumstances, a multi-fuzzy variable structure control for a stable biped locomotion robot is designed. The proposed control can track a reference trajectory without the requirement of a mathematical model. The information of the upper bound of system knowledge is required to select the suitable scaling factors such that an excellent performance is achieved. This is the first time to use a multi-fuzzy variable structure control (MFVSC) for the experiment of a biped locomotion robot. The corresponding experiments confirm the effectiveness of the proposed control.

CHAPTER 1 INTRODUCTION CHAPTER 2 EXPEREMENTAL SETUP
CHAPTER 3 DETERMINATION OF REFERENCE TRAJECTORY
CHAPTER 4 MULTI-FUZZY VARIABLE STRUCTURE CONTROL
CHAPTER 5 EXPERIMENTAL RESULTS CHAPTER 6 CONCLUSION

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